
#ifndef IMU_ALGORITHM_V2_0_FILE_H
#define IMU_ALGORITHM_V2_0_FILE_H
extern State getState(string fileName);
extern IMUDATA getImuData(double data[], int i = 1);
extern IMUDATA getImuDataFromASC(string imuALine, istream & inFile);
extern GNSSDATA getGNSSDATA(string gnssDataALine);
extern void outTextFile(ostream & outFile, State stateNow);
extern void out_cor_imu(const IMUDATA& imuDataNow, ostream& file_out_imu_correct);
extern void out_cor_imu_bin(const IMUDATA& imuDataNow, ostream& file_out_imu_correct_bin);
extern void out_imu_error(const Vector<double, 24>& error_gyro_accel, double time, ostream& file_out_imu_error_bin);
extern void out_p(const Matrix<double, Dynamic, Dynamic>& p_kBefore,const IMUDATA& imuDataBefore, ostream& file_out_p);
#endif //IMU_ALGORITHM_V2_0_FILE_H
